1 | /* mbed Microcontroller Library
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2 | * Copyright (c) 2006-2013 ARM Limited
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3 | *
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4 | * Licensed under the Apache License, Version 2.0 (the "License");
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5 | * you may not use this file except in compliance with the License.
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6 | * You may obtain a copy of the License at
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7 | *
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8 | * http://www.apache.org/licenses/LICENSE-2.0
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9 | *
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10 | * Unless required by applicable law or agreed to in writing, software
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11 | * distributed under the License is distributed on an "AS IS" BASIS,
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12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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13 | * See the License for the specific language governing permissions and
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14 | * limitations under the License.
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15 | */
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16 | #include "mbed_assert.h"
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17 | #include "pwmout_api.h"
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18 | #include "cmsis.h"
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19 | #include "pinmap.h"
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20 | #include "RZ_A1_Init.h"
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21 | #include "cpg_iodefine.h"
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22 | #include "pwm_iodefine.h"
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23 | #include "gpio_addrdefine.h"
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24 |
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25 | #define MTU2_PWM_NUM 22
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26 | #define MTU2_PWM_SIGNAL 2
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27 | #define MTU2_PWM_OFFSET 0x20
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28 |
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29 | // PORT ID, PWM ID, Pin function
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30 | static const PinMap PinMap_PWM[] = {
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31 | {P2_1 , MTU2_PWM0_PIN , 6},
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32 | {P2_11 , MTU2_PWM1_PIN , 5},
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33 | {P3_8 , MTU2_PWM2_PIN , 6},
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34 | {P3_10 , MTU2_PWM3_PIN , 6},
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35 | {P4_0 , MTU2_PWM4_PIN , 2},
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36 | {P4_4 , MTU2_PWM5_PIN , 3},
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37 | {P4_6 , MTU2_PWM6_PIN , 3},
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38 | {P5_0 , MTU2_PWM7_PIN , 6},
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39 | {P5_3 , MTU2_PWM8_PIN , 6},
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40 | {P5_5 , MTU2_PWM9_PIN , 6},
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41 | {P7_2 , MTU2_PWM10_PIN , 7},
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42 | {P7_4 , MTU2_PWM11_PIN , 7},
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43 | {P7_6 , MTU2_PWM12_PIN , 7},
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44 | {P7_10 , MTU2_PWM13_PIN , 7},
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45 | {P7_12 , MTU2_PWM14_PIN , 7},
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46 | {P7_14 , MTU2_PWM15_PIN , 7},
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47 | {P8_8 , MTU2_PWM16_PIN , 5},
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48 | {P8_10 , MTU2_PWM17_PIN , 4},
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49 | {P8_12 , MTU2_PWM18_PIN , 4},
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50 | {P8_14 , MTU2_PWM19_PIN , 4},
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51 | {P11_0 , MTU2_PWM20_PIN , 2},
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52 | {P11_2 , MTU2_PWM21_PIN , 2},
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53 | {P4_4 , PWM0_PIN , 4},
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54 | {P3_2 , PWM1_PIN , 7},
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55 | {P4_6 , PWM2_PIN , 4},
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56 | {P4_7 , PWM3_PIN , 4},
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57 | {P8_14 , PWM4_PIN , 6},
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58 | {P8_15 , PWM5_PIN , 6},
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59 | {P8_13 , PWM6_PIN , 6},
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60 | {P8_11 , PWM7_PIN , 6},
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61 | {P8_8 , PWM8_PIN , 6},
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62 | {P10_0 , PWM9_PIN , 3},
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63 | {P8_12 , PWM10_PIN , 6},
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64 | {P8_9 , PWM11_PIN , 6},
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65 | {P8_10 , PWM12_PIN , 6},
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66 | {P4_5 , PWM13_PIN , 4},
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67 | {NC , NC , 0}
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68 | };
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69 |
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70 | static const PWMType PORT[] = {
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71 | PWM2E, // PWM0_PIN
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72 | PWM2C, // PWM1_PIN
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73 | PWM2G, // PWM2_PIN
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74 | PWM2H, // PWM3_PIN
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75 | PWM1G, // PWM4_PIN
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76 | PWM1H, // PWM5_PIN
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77 | PWM1F, // PWM6_PIN
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78 | PWM1D, // PWM7_PIN
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79 | PWM1A, // PWM8_PIN
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80 | PWM2A, // PWM9_PIN
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81 | PWM1E, // PWM10_PIN
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82 | PWM1B, // PWM11_PIN
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83 | PWM1C, // PWM12_PIN
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84 | PWM2F, // PWM13_PIN
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85 | };
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86 |
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87 | static const MTU2_PWMType MTU2_PORT[] = {
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88 | TIOC2A, // MTU2_PWM0_PIN
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89 | TIOC1A, // MTU2_PWM1_PIN
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90 | TIOC4A, // MTU2_PWM2_PIN
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91 | TIOC4C, // MTU2_PWM3_PIN
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92 | TIOC0A, // MTU2_PWM4_PIN
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93 | TIOC4A, // MTU2_PWM5_PIN
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94 | TIOC4C, // MTU2_PWM6_PIN
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95 | TIOC0A, // MTU2_PWM7_PIN
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96 | TIOC3C, // MTU2_PWM8_PIN
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97 | TIOC0C, // MTU2_PWM9_PIN
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98 | TIOC0C, // MTU2_PWM10_PIN
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99 | TIOC1A, // MTU2_PWM11_PIN
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100 | TIOC2A, // MTU2_PWM12_PIN
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101 | TIOC3C, // MTU2_PWM13_PIN
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102 | TIOC4A, // MTU2_PWM14_PIN
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103 | TIOC4C, // MTU2_PWM15_PIN
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104 | TIOC1A, // MTU2_PWM16_PIN
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105 | TIOC3A, // MTU2_PWM17_PIN
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106 | TIOC3C, // MTU2_PWM18_PIN
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107 | TIOC2A, // MTU2_PWM19_PIN
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108 | TIOC4A, // MTU2_PWM20_PIN
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109 | TIOC4C, // MTU2_PWM21_PIN
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110 | };
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111 |
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112 | static __IO uint16_t *PWM_MATCH[] = {
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113 | &PWMPWBFR_2E, // PWM0_PIN
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114 | &PWMPWBFR_2C, // PWM1_PIN
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115 | &PWMPWBFR_2G, // PWM2_PIN
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116 | &PWMPWBFR_2G, // PWM3_PIN
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117 | &PWMPWBFR_1G, // PWM4_PIN
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118 | &PWMPWBFR_1G, // PWM5_PIN
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119 | &PWMPWBFR_1E, // PWM6_PIN
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120 | &PWMPWBFR_1C, // PWM7_PIN
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121 | &PWMPWBFR_1A, // PWM8_PIN
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122 | &PWMPWBFR_2A, // PWM9_PIN
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123 | &PWMPWBFR_1E, // PWM10_PIN
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124 | &PWMPWBFR_1A, // PWM11_PIN
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125 | &PWMPWBFR_1C, // PWM12_PIN
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126 | &PWMPWBFR_2E, // PWM13_PIN
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127 | };
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128 |
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129 | static __IO uint16_t *MTU2_PWM_MATCH[MTU2_PWM_NUM][MTU2_PWM_SIGNAL] = {
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130 | { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM0_PIN
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131 | { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM1_PIN
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132 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM2_PIN
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133 | { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM3_PIN
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134 | { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM4_PIN
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135 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM5_PIN
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136 | { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM6_PIN
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137 | { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM7_PIN
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138 | { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM8_PIN
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139 | { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM9_PIN
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140 | { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM10_PIN
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141 | { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM11_PIN
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142 | { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM12_PIN
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143 | { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM13_PIN
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144 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM14_PIN
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145 | { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM15_PIN
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146 | { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM16_PIN
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147 | { &MTU2TGRA_3, &MTU2TGRB_3 }, // MTU2_PWM17_PIN
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148 | { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM18_PIN
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149 | { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM19_PIN
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150 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM20_PIN
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151 | { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM21_PIN
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152 | };
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153 |
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154 | static __IO uint8_t *TCR_MATCH[] = {
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155 | &MTU2TCR_0,
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156 | &MTU2TCR_1,
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157 | &MTU2TCR_2,
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158 | &MTU2TCR_3,
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159 | &MTU2TCR_4,
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160 | };
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161 |
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162 | static __IO uint8_t *TIORH_MATCH[] = {
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163 | &MTU2TIORH_0,
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164 | &MTU2TIOR_1,
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165 | &MTU2TIOR_2,
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166 | &MTU2TIORH_3,
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167 | &MTU2TIORH_4,
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168 | };
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169 |
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170 | static __IO uint8_t *TIORL_MATCH[] = {
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171 | &MTU2TIORL_0,
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172 | NULL,
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173 | NULL,
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174 | &MTU2TIORL_3,
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175 | &MTU2TIORL_4,
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176 | };
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177 |
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178 | static __IO uint16_t *TGRA_MATCH[] = {
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179 | &MTU2TGRA_0,
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180 | &MTU2TGRA_1,
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181 | &MTU2TGRA_2,
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182 | &MTU2TGRA_3,
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183 | &MTU2TGRA_4,
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184 | };
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185 |
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186 | static __IO uint16_t *TGRC_MATCH[] = {
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187 | &MTU2TGRC_0,
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188 | NULL,
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189 | NULL,
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190 | &MTU2TGRC_3,
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191 | &MTU2TGRC_4,
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192 | };
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193 |
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194 | static __IO uint8_t *TMDR_MATCH[] = {
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195 | &MTU2TMDR_0,
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196 | &MTU2TMDR_1,
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197 | &MTU2TMDR_2,
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198 | &MTU2TMDR_3,
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199 | &MTU2TMDR_4,
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200 | };
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201 |
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202 | static int MAX_PERIOD[] = {
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203 | 125000,
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204 | 503000,
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205 | 2000000,
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206 | 2000000,
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207 | 2000000,
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208 | };
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209 |
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210 | typedef enum {
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211 | MTU2_PULSE = 0,
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212 | MTU2_PERIOD
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213 | } MTU2Signal;
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214 |
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215 | static uint16_t init_period_ch1 = 0;
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216 | static uint16_t init_period_ch2 = 0;
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217 | static uint16_t init_mtu2_period_ch[5] = {0};
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218 | static int32_t period_ch1 = 1;
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219 | static int32_t period_ch2 = 1;
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220 | static int32_t mtu2_period_ch[5] = {1, 1, 1, 1, 1};
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221 |
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222 | void pwmout_init(pwmout_t* obj, PinName pin) {
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223 | // determine the channel
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224 | PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
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225 | MBED_ASSERT(pwm != (PWMName)NC);
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226 |
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227 | if (pwm >= MTU2_PWM_OFFSET) {
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228 | /* PWM by MTU2 */
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229 | int tmp_pwm;
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230 |
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231 | // power on
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232 | CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP33);
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233 |
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234 | obj->pwm = pwm;
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235 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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236 | if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000040) == 0x00000040) {
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237 | obj->ch = 4;
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238 | MTU2TOER |= 0x36;
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239 | } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000030) == 0x00000030) {
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240 | obj->ch = 3;
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241 | MTU2TOER |= 0x09;
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242 | } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000020) == 0x00000020) {
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243 | obj->ch = 2;
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244 | } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000010) == 0x00000010) {
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245 | obj->ch = 1;
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246 | } else {
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247 | obj->ch = 0;
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248 | }
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249 | // Wire pinout
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250 | pinmap_pinout(pin, PinMap_PWM);
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251 |
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252 | int bitmask = 1 << (pin & 0xf);
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253 |
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254 | *PMSR(PINGROUP(pin)) = (bitmask << 16) | 0;
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255 |
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256 | // default duty 0.0f
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257 | pwmout_write(obj, 0);
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258 | if (init_mtu2_period_ch[obj->ch] == 0) {
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259 | // default period 1ms
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260 | pwmout_period_us(obj, 1000);
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261 | init_mtu2_period_ch[obj->ch] = 1;
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262 | }
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263 | } else {
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264 | /* PWM */
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265 | // power on
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266 | CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP30);
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267 |
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268 | obj->pwm = pwm;
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269 | if (((uint32_t)PORT[obj->pwm] & 0x00000010) == 0x00000010) {
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270 | obj->ch = 2;
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271 | PWMPWPR_2_BYTE_L = 0x00;
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272 | } else {
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273 | obj->ch = 1;
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274 | PWMPWPR_1_BYTE_L = 0x00;
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275 | }
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276 |
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277 | // Wire pinout
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278 | pinmap_pinout(pin, PinMap_PWM);
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279 |
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280 | // default to 491us: standard for servos, and fine for e.g. brightness control
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281 | pwmout_write(obj, 0);
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282 | if ((obj->ch == 2) && (init_period_ch2 == 0)) {
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283 | pwmout_period_us(obj, 491);
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284 | init_period_ch2 = 1;
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285 | }
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286 | if ((obj->ch == 1) && (init_period_ch1 == 0)) {
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287 | pwmout_period_us(obj, 491);
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288 | init_period_ch1 = 1;
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289 | }
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290 | }
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291 | }
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292 |
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293 | void pwmout_free(pwmout_t* obj) {
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294 | pwmout_write(obj, 0);
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295 | }
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296 |
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297 | void pwmout_write(pwmout_t* obj, float value) {
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298 | uint32_t wk_cycle;
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299 | uint16_t v;
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300 |
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301 | if (obj->pwm >= MTU2_PWM_OFFSET) {
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302 | /* PWM by MTU2 */
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303 | int tmp_pwm;
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304 |
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305 | if (value < 0.0f) {
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306 | value = 0.0f;
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307 | } else if (value > 1.0f) {
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308 | value = 1.0f;
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309 | } else {
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310 | // Do Nothing
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311 | }
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312 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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313 | wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
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314 | // set channel match to percentage
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315 | *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] = (uint16_t)((float)wk_cycle * value);
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316 | } else {
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317 | /* PWM */
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318 | if (value < 0.0f) {
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319 | value = 0.0f;
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320 | } else if (value > 1.0f) {
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321 | value = 1.0f;
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322 | } else {
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323 | // Do Nothing
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324 | }
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325 |
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326 | if (obj->ch == 2) {
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327 | wk_cycle = PWMPWCYR_2 & 0x03ff;
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328 | } else {
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329 | wk_cycle = PWMPWCYR_1 & 0x03ff;
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330 | }
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331 |
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332 | // set channel match to percentage
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333 | v = (uint16_t)((float)wk_cycle * value);
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334 | *PWM_MATCH[obj->pwm] = (v | ((PORT[obj->pwm] & 1) << 12));
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335 | }
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336 | }
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337 |
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338 | float pwmout_read(pwmout_t* obj) {
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339 | uint32_t wk_cycle;
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340 | float value;
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341 |
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342 | if (obj->pwm >= MTU2_PWM_OFFSET) {
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343 | /* PWM by MTU2 */
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344 | uint32_t wk_pulse;
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345 | int tmp_pwm;
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346 |
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347 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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348 | wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
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349 | wk_pulse = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] & 0xffff;
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350 | value = ((float)wk_pulse / (float)wk_cycle);
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351 | } else {
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352 | /* PWM */
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353 | if (obj->ch == 2) {
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354 | wk_cycle = PWMPWCYR_2 & 0x03ff;
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355 | } else {
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356 | wk_cycle = PWMPWCYR_1 & 0x03ff;
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357 | }
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358 | value = ((float)(*PWM_MATCH[obj->pwm] & 0x03ff) / (float)wk_cycle);
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359 | }
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360 |
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361 | return (value > 1.0f) ? (1.0f) : (value);
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362 | }
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363 |
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364 | void pwmout_period(pwmout_t* obj, float seconds) {
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365 | pwmout_period_us(obj, seconds * 1000000.0f);
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366 | }
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367 |
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368 | void pwmout_period_ms(pwmout_t* obj, int ms) {
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369 | pwmout_period_us(obj, ms * 1000);
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370 | }
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371 |
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372 | static void set_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){
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373 | uint16_t wk_pwmpbfr;
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374 | float value;
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375 | uint16_t v;
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376 |
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377 | wk_pwmpbfr = *p_pwmpbfr;
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378 | value = ((float)(wk_pwmpbfr & 0x03ff) / (float)last_cycle);
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379 | v = (uint16_t)((float)new_cycle * value);
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380 | *p_pwmpbfr = (v | (wk_pwmpbfr & 0x1000));
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381 | }
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382 |
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383 | static void set_mtu2_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){
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384 | uint16_t wk_pwmpbfr;
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385 | float value;
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386 |
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387 | wk_pwmpbfr = *p_pwmpbfr;
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388 | value = ((float)(wk_pwmpbfr & 0xffff) / (float)last_cycle);
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389 | *p_pwmpbfr = (uint16_t)((float)new_cycle * value);
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390 | }
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391 |
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392 | // Set the PWM period, keeping the duty cycle the same.
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393 | void pwmout_period_us(pwmout_t* obj, int us) {
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394 | uint64_t wk_cycle_mtu2;
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395 | uint32_t pclk_base;
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396 | uint32_t wk_cycle;
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397 | uint32_t wk_cks = 0;
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398 | uint16_t wk_last_cycle;
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399 | int max_us = 0;
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400 |
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401 | if (obj->pwm >= MTU2_PWM_OFFSET) {
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402 | /* PWM by MTU2 */
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403 | int tmp_pwm;
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404 | uint8_t tmp_tcr_up;
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405 | uint8_t tmp_tstr_sp;
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406 | uint8_t tmp_tstr_st;
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407 |
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408 | max_us = MAX_PERIOD[obj->ch];
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409 | if (us > max_us) {
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410 | us = max_us;
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411 | } else if (us < 1) {
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412 | us = 1;
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413 | } else {
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414 | // Do Nothing
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415 | }
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416 |
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417 | if (RZ_A1_IsClockMode0() == false) {
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418 | pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK;
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419 | } else {
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420 | pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK;
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421 | }
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422 |
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423 | wk_cycle_mtu2 = (uint64_t)pclk_base * us;
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424 | while (wk_cycle_mtu2 >= 65535000000) {
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425 | if ((obj->ch == 1) && (wk_cks == 3)) {
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426 | wk_cks+=2;
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427 | } else if ((obj->ch == 2) && (wk_cks == 3)) {
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428 | wk_cycle_mtu2 >>= 2;
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429 | wk_cks+=3;
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430 | }
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431 | wk_cycle_mtu2 >>= 2;
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432 | wk_cks++;
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433 | }
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434 | wk_cycle = (uint32_t)(wk_cycle_mtu2 / 1000000);
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435 |
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436 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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437 | if (((uint8_t)MTU2_PORT[tmp_pwm] & 0x02) == 0x02) {
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438 | tmp_tcr_up = 0xC0;
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439 | } else {
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440 | tmp_tcr_up = 0x40;
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441 | }
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442 | if ((obj->ch == 4) || (obj->ch == 3)) {
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443 | tmp_tstr_sp = ~(0x38 | (1 << (obj->ch + 3)));
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444 | tmp_tstr_st = (1 << (obj->ch + 3));
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445 | } else {
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446 | tmp_tstr_sp = ~(0x38 | (1 << obj->ch));
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447 | tmp_tstr_st = (1 << obj->ch);
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448 | }
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449 | // Counter Stop
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450 | MTU2TSTR &= tmp_tstr_sp;
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451 | wk_last_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
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452 | *TCR_MATCH[obj->ch] = tmp_tcr_up | wk_cks;
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453 | *TIORH_MATCH[obj->ch] = 0x21;
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454 | if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) {
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455 | *TIORL_MATCH[obj->ch] = 0x21;
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456 | }
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457 | *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] = (uint16_t)wk_cycle; // Set period
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458 |
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459 | // Set duty again(TGRA)
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460 | set_mtu2_duty_again(TGRA_MATCH[obj->ch], wk_last_cycle, wk_cycle);
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461 | if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) {
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462 | // Set duty again(TGRC)
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463 | set_mtu2_duty_again(TGRC_MATCH[obj->ch], wk_last_cycle, wk_cycle);
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464 | }
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465 | *TMDR_MATCH[obj->ch] = 0x02; // PWM mode 1
|
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466 |
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467 | // Counter Start
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468 | MTU2TSTR |= tmp_tstr_st;
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469 | // Save for future use
|
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470 | mtu2_period_ch[obj->ch] = us;
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471 | } else {
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472 | /* PWM */
|
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473 | if (us > 491) {
|
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474 | us = 491;
|
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475 | } else if (us < 1) {
|
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476 | us = 1;
|
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477 | } else {
|
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478 | // Do Nothing
|
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479 | }
|
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480 |
|
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481 | if (RZ_A1_IsClockMode0() == false) {
|
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482 | pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK / 10000;
|
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483 | } else {
|
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484 | pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK / 10000;
|
---|
485 | }
|
---|
486 |
|
---|
487 | wk_cycle = pclk_base * us;
|
---|
488 | while (wk_cycle >= 102350) {
|
---|
489 | wk_cycle >>= 1;
|
---|
490 | wk_cks++;
|
---|
491 | }
|
---|
492 | wk_cycle = (wk_cycle + 50) / 100;
|
---|
493 |
|
---|
494 | if (obj->ch == 2) {
|
---|
495 | wk_last_cycle = PWMPWCYR_2 & 0x03ff;
|
---|
496 | PWMPWCR_2_BYTE_L = 0xc0 | wk_cks;
|
---|
497 | PWMPWCYR_2 = (uint16_t)wk_cycle;
|
---|
498 |
|
---|
499 | // Set duty again
|
---|
500 | set_duty_again(&PWMPWBFR_2A, wk_last_cycle, wk_cycle);
|
---|
501 | set_duty_again(&PWMPWBFR_2C, wk_last_cycle, wk_cycle);
|
---|
502 | set_duty_again(&PWMPWBFR_2E, wk_last_cycle, wk_cycle);
|
---|
503 | set_duty_again(&PWMPWBFR_2G, wk_last_cycle, wk_cycle);
|
---|
504 |
|
---|
505 | // Counter Start
|
---|
506 | PWMPWCR_2_BYTE_L |= 0x08;
|
---|
507 |
|
---|
508 | // Save for future use
|
---|
509 | period_ch2 = us;
|
---|
510 | } else {
|
---|
511 | wk_last_cycle = PWMPWCYR_1 & 0x03ff;
|
---|
512 | PWMPWCR_1_BYTE_L = 0xc0 | wk_cks;
|
---|
513 | PWMPWCYR_1 = (uint16_t)wk_cycle;
|
---|
514 |
|
---|
515 | // Set duty again
|
---|
516 | set_duty_again(&PWMPWBFR_1A, wk_last_cycle, wk_cycle);
|
---|
517 | set_duty_again(&PWMPWBFR_1C, wk_last_cycle, wk_cycle);
|
---|
518 | set_duty_again(&PWMPWBFR_1E, wk_last_cycle, wk_cycle);
|
---|
519 | set_duty_again(&PWMPWBFR_1G, wk_last_cycle, wk_cycle);
|
---|
520 |
|
---|
521 | // Counter Start
|
---|
522 | PWMPWCR_1_BYTE_L |= 0x08;
|
---|
523 |
|
---|
524 | // Save for future use
|
---|
525 | period_ch1 = us;
|
---|
526 | }
|
---|
527 | }
|
---|
528 | }
|
---|
529 |
|
---|
530 | void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
|
---|
531 | pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
|
---|
532 | }
|
---|
533 |
|
---|
534 | void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
|
---|
535 | pwmout_pulsewidth_us(obj, ms * 1000);
|
---|
536 | }
|
---|
537 |
|
---|
538 | void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
|
---|
539 | float value = 0;
|
---|
540 |
|
---|
541 | if (obj->pwm >= MTU2_PWM_OFFSET) {
|
---|
542 | /* PWM by MTU2 */
|
---|
543 | if (mtu2_period_ch[obj->ch] != 0) {
|
---|
544 | value = (float)us / (float)mtu2_period_ch[obj->ch];
|
---|
545 | }
|
---|
546 | } else {
|
---|
547 | /* PWM */
|
---|
548 | if (obj->ch == 2) {
|
---|
549 | if (period_ch2 != 0) {
|
---|
550 | value = (float)us / (float)period_ch2;
|
---|
551 | }
|
---|
552 | } else {
|
---|
553 | if (period_ch1 != 0) {
|
---|
554 | value = (float)us / (float)period_ch1;
|
---|
555 | }
|
---|
556 | }
|
---|
557 | }
|
---|
558 | pwmout_write(obj, value);
|
---|
559 | }
|
---|